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1/*
2 * Copyright (c) Contributors, http://opensimulator.org/
3 * See CONTRIBUTORS.TXT for a full list of copyright holders.
4 *
5 * Redistribution and use in source and binary forms, with or without
6 * modification, are permitted provided that the following conditions are met:
7 * * Redistributions of source code must retain the above copyright
8 * notice, this list of conditions and the following disclaimer.
9 * * Redistributions in binary form must reproduce the above copyrightD
10 * notice, this list of conditions and the following disclaimer in the
11 * documentation and/or other materials provided with the distribution.
12 * * Neither the name of the OpenSimulator Project nor the
13 * names of its contributors may be used to endorse or promote products
14 * derived from this software without specific prior written permission.
15 *
16 * THIS SOFTWARE IS PROVIDED BY THE DEVELOPERS ``AS IS'' AND ANY
17 * EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 * WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 * DISCLAIMED. IN NO EVENT SHALL THE CONTRIBUTORS BE LIABLE FOR ANY
20 * DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 * (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 * ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 * (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 * SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27using System;
28using System.Collections.Generic;
29using System.Reflection;
30using System.Text;
31
32using OpenSim.Region.Physics.Manager;
33
34using OpenMetaverse;
35using Nini.Config;
36
37namespace OpenSim.Region.Physics.BulletSPlugin
38{
39public static class BSParam
40{
41 private static string LogHeader = "[BULLETSIM PARAMETERS]";
42
43 // Tuning notes:
44 // From: http://bulletphysics.org/Bullet/phpBB3/viewtopic.php?t=6575
45 // Contact points can be added even if the distance is positive. The constraint solver can deal with
46 // contacts with positive distances as well as negative (penetration). Contact points are discarded
47 // if the distance exceeds a certain threshold.
48 // Bullet has a contact processing threshold and a contact breaking threshold.
49 // If the distance is larger than the contact breaking threshold, it will be removed after one frame.
50 // If the distance is larger than the contact processing threshold, the constraint solver will ignore it.
51
52 // This is separate/independent from the collision margin. The collision margin increases the object a bit
53 // to improve collision detection performance and accuracy.
54 // ===================
55 // From:
56
57 /// <summary>
58 /// Set whether physics is active or not.
59 /// </summary>
60 /// <remarks>
61 /// Can be enabled and disabled to start and stop physics.
62 /// </remarks>
63 public static bool Active { get; private set; }
64
65 public static bool UseSeparatePhysicsThread { get; private set; }
66 public static float PhysicsTimeStep { get; private set; }
67
68 // Level of Detail values kept as float because that's what the Meshmerizer wants
69 public static float MeshLOD { get; private set; }
70 public static float MeshCircularLOD { get; private set; }
71 public static float MeshMegaPrimLOD { get; private set; }
72 public static float MeshMegaPrimThreshold { get; private set; }
73 public static float SculptLOD { get; private set; }
74
75 public static int CrossingFailuresBeforeOutOfBounds { get; private set; }
76 public static float UpdateVelocityChangeThreshold { get; private set; }
77
78 public static float MinimumObjectMass { get; private set; }
79 public static float MaximumObjectMass { get; private set; }
80 public static float MaxLinearVelocity { get; private set; }
81 public static float MaxLinearVelocitySquared { get; private set; }
82 public static float MaxAngularVelocity { get; private set; }
83 public static float MaxAngularVelocitySquared { get; private set; }
84 public static float MaxAddForceMagnitude { get; private set; }
85 public static float MaxAddForceMagnitudeSquared { get; private set; }
86 public static float DensityScaleFactor { get; private set; }
87
88 public static float LinearDamping { get; private set; }
89 public static float AngularDamping { get; private set; }
90 public static float DeactivationTime { get; private set; }
91 public static float LinearSleepingThreshold { get; private set; }
92 public static float AngularSleepingThreshold { get; private set; }
93 public static float CcdMotionThreshold { get; private set; }
94 public static float CcdSweptSphereRadius { get; private set; }
95 public static float ContactProcessingThreshold { get; private set; }
96
97 public static bool ShouldMeshSculptedPrim { get; private set; } // cause scuplted prims to get meshed
98 public static bool ShouldForceSimplePrimMeshing { get; private set; } // if a cube or sphere, let Bullet do internal shapes
99 public static bool ShouldUseHullsForPhysicalObjects { get; private set; } // 'true' if should create hulls for physical objects
100 public static bool ShouldRemoveZeroWidthTriangles { get; private set; }
101 public static bool ShouldUseBulletHACD { get; set; }
102 public static bool ShouldUseSingleConvexHullForPrims { get; set; }
103 public static bool ShouldUseGImpactShapeForPrims { get; set; }
104 public static bool ShouldUseAssetHulls { get; set; }
105
106 public static float TerrainImplementation { get; set; }
107 public static int TerrainMeshMagnification { get; private set; }
108 public static float TerrainGroundPlane { get; private set; }
109 public static float TerrainFriction { get; private set; }
110 public static float TerrainHitFraction { get; private set; }
111 public static float TerrainRestitution { get; private set; }
112 public static float TerrainContactProcessingThreshold { get; private set; }
113 public static float TerrainCollisionMargin { get; private set; }
114
115 public static float DefaultFriction { get; private set; }
116 public static float DefaultDensity { get; private set; }
117 public static float DefaultRestitution { get; private set; }
118 public static float CollisionMargin { get; private set; }
119 public static float Gravity { get; private set; }
120
121 // Physics Engine operation
122 public static float MaxPersistantManifoldPoolSize { get; private set; }
123 public static float MaxCollisionAlgorithmPoolSize { get; private set; }
124 public static bool ShouldDisableContactPoolDynamicAllocation { get; private set; }
125 public static bool ShouldForceUpdateAllAabbs { get; private set; }
126 public static bool ShouldRandomizeSolverOrder { get; private set; }
127 public static bool ShouldSplitSimulationIslands { get; private set; }
128 public static bool ShouldEnableFrictionCaching { get; private set; }
129 public static float NumberOfSolverIterations { get; private set; }
130 public static bool UseSingleSidedMeshes { get; private set; }
131 public static float GlobalContactBreakingThreshold { get; private set; }
132 public static float PhysicsUnmanLoggingFrames { get; private set; }
133
134 // Avatar parameters
135 public static bool AvatarToAvatarCollisionsByDefault { get; private set; }
136 public static float AvatarFriction { get; private set; }
137 public static float AvatarStandingFriction { get; private set; }
138 public static float AvatarAlwaysRunFactor { get; private set; }
139 public static float AvatarDensity { get; private set; }
140 public static float AvatarRestitution { get; private set; }
141 public static int AvatarShape { get; private set; }
142 public static float AvatarCapsuleWidth { get; private set; }
143 public static float AvatarCapsuleDepth { get; private set; }
144 public static float AvatarCapsuleHeight { get; private set; }
145 public static float AvatarHeightLowFudge { get; private set; }
146 public static float AvatarHeightMidFudge { get; private set; }
147 public static float AvatarHeightHighFudge { get; private set; }
148 public static float AvatarFlyingGroundMargin { get; private set; }
149 public static float AvatarFlyingGroundUpForce { get; private set; }
150 public static float AvatarTerminalVelocity { get; private set; }
151 public static float AvatarContactProcessingThreshold { get; private set; }
152 public static float AvatarStopZeroThreshold { get; private set; }
153 public static int AvatarJumpFrames { get; private set; }
154 public static float AvatarBelowGroundUpCorrectionMeters { get; private set; }
155 public static float AvatarStepHeight { get; private set; }
156 public static float AvatarStepAngle { get; private set; }
157 public static float AvatarStepGroundFudge { get; private set; }
158 public static float AvatarStepApproachFactor { get; private set; }
159 public static float AvatarStepForceFactor { get; private set; }
160 public static float AvatarStepUpCorrectionFactor { get; private set; }
161 public static int AvatarStepSmoothingSteps { get; private set; }
162
163 // Vehicle parameters
164 public static float VehicleMaxLinearVelocity { get; private set; }
165 public static float VehicleMaxLinearVelocitySquared { get; private set; }
166 public static float VehicleMinLinearVelocity { get; private set; }
167 public static float VehicleMinLinearVelocitySquared { get; private set; }
168 public static float VehicleMaxAngularVelocity { get; private set; }
169 public static float VehicleMaxAngularVelocitySq { get; private set; }
170 public static float VehicleAngularDamping { get; private set; }
171 public static float VehicleFriction { get; private set; }
172 public static float VehicleRestitution { get; private set; }
173 public static Vector3 VehicleLinearFactor { get; private set; }
174 public static Vector3 VehicleAngularFactor { get; private set; }
175 public static Vector3 VehicleInertiaFactor { get; private set; }
176 public static float VehicleGroundGravityFudge { get; private set; }
177 public static float VehicleAngularBankingTimescaleFudge { get; private set; }
178 public static bool VehicleEnableLinearDeflection { get; private set; }
179 public static bool VehicleLinearDeflectionNotCollidingNoZ { get; private set; }
180 public static bool VehicleEnableAngularVerticalAttraction { get; private set; }
181 public static int VehicleAngularVerticalAttractionAlgorithm { get; private set; }
182 public static bool VehicleEnableAngularDeflection { get; private set; }
183 public static bool VehicleEnableAngularBanking { get; private set; }
184
185 // Convex Hulls
186 // Parameters for convex hull routine that ships with Bullet
187 public static int CSHullMaxDepthSplit { get; private set; }
188 public static int CSHullMaxDepthSplitForSimpleShapes { get; private set; }
189 public static float CSHullConcavityThresholdPercent { get; private set; }
190 public static float CSHullVolumeConservationThresholdPercent { get; private set; }
191 public static int CSHullMaxVertices { get; private set; }
192 public static float CSHullMaxSkinWidth { get; private set; }
193 public static float BHullMaxVerticesPerHull { get; private set; } // 100
194 public static float BHullMinClusters { get; private set; } // 2
195 public static float BHullCompacityWeight { get; private set; } // 0.1
196 public static float BHullVolumeWeight { get; private set; } // 0.0
197 public static float BHullConcavity { get; private set; } // 100
198 public static bool BHullAddExtraDistPoints { get; private set; } // false
199 public static bool BHullAddNeighboursDistPoints { get; private set; } // false
200 public static bool BHullAddFacesPoints { get; private set; } // false
201 public static bool BHullShouldAdjustCollisionMargin { get; private set; } // false
202 public static float WhichHACD { get; private set; } // zero if Bullet HACD, non-zero says VHACD
203 // Parameters for VHACD 2.0: http://code.google.com/p/v-hacd
204 // To enable, set both ShouldUseBulletHACD=true and WhichHACD=1
205 // http://kmamou.blogspot.ca/2014/12/v-hacd-20-parameters-description.html
206 public static float VHACDresolution { get; private set; } // 100,000 max number of voxels generated during voxelization stage
207 public static float VHACDdepth { get; private set; } // 20 max number of clipping stages
208 public static float VHACDconcavity { get; private set; } // 0.0025 maximum concavity
209 public static float VHACDplaneDownsampling { get; private set; } // 4 granularity of search for best clipping plane
210 public static float VHACDconvexHullDownsampling { get; private set; } // 4 precision of hull gen process
211 public static float VHACDalpha { get; private set; } // 0.05 bias toward clipping along symmetry planes
212 public static float VHACDbeta { get; private set; } // 0.05 bias toward clipping along revolution axis
213 public static float VHACDgamma { get; private set; } // 0.00125 max concavity when merging
214 public static float VHACDpca { get; private set; } // 0 on/off normalizing mesh before decomp
215 public static float VHACDmode { get; private set; } // 0 0:voxel based, 1: tetrahedron based
216 public static float VHACDmaxNumVerticesPerCH { get; private set; } // 64 max triangles per convex hull
217 public static float VHACDminVolumePerCH { get; private set; } // 0.0001 sampling of generated convex hulls
218
219 // Linkset implementation parameters
220 public static float LinksetImplementation { get; private set; }
221 public static bool LinksetOffsetCenterOfMass { get; private set; }
222 public static bool LinkConstraintUseFrameOffset { get; private set; }
223 public static bool LinkConstraintEnableTransMotor { get; private set; }
224 public static float LinkConstraintTransMotorMaxVel { get; private set; }
225 public static float LinkConstraintTransMotorMaxForce { get; private set; }
226 public static float LinkConstraintERP { get; private set; }
227 public static float LinkConstraintCFM { get; private set; }
228 public static float LinkConstraintSolverIterations { get; private set; }
229
230 public static float PID_D { get; private set; } // derivative
231 public static float PID_P { get; private set; } // proportional
232
233 // Various constants that come from that other virtual world that shall not be named.
234 public const float MinGravityZ = -1f;
235 public const float MaxGravityZ = 28f;
236 public const float MinFriction = 0f;
237 public const float MaxFriction = 255f;
238 public const float MinDensity = 0.01f;
239 public const float MaxDensity = 22587f;
240 public const float MinRestitution = 0f;
241 public const float MaxRestitution = 1f;
242
243 // =====================================================================================
244 // =====================================================================================
245
246 // Base parameter definition that gets and sets parameter values via a string
247 public abstract class ParameterDefnBase
248 {
249 public string name; // string name of the parameter
250 public string desc; // a short description of what the parameter means
251 public ParameterDefnBase(string pName, string pDesc)
252 {
253 name = pName;
254 desc = pDesc;
255 }
256 // Set the parameter value to the default
257 public abstract void AssignDefault(BSScene s);
258 // Get the value as a string
259 public abstract string GetValue(BSScene s);
260 // Set the value to this string value
261 public abstract void SetValue(BSScene s, string valAsString);
262 // set the value on a particular object (usually sets in physics engine)
263 public abstract void SetOnObject(BSScene s, BSPhysObject obj);
264 public abstract bool HasSetOnObject { get; }
265 }
266
267 // Specific parameter definition for a parameter of a specific type.
268 public delegate T PGetValue<T>(BSScene s);
269 public delegate void PSetValue<T>(BSScene s, T val);
270 public delegate void PSetOnObject<T>(BSScene scene, BSPhysObject obj);
271 public sealed class ParameterDefn<T> : ParameterDefnBase
272 {
273 private T defaultValue;
274 private PSetValue<T> setter;
275 private PGetValue<T> getter;
276 private PSetOnObject<T> objectSet;
277 public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue<T> pGetter, PSetValue<T> pSetter)
278 : base(pName, pDesc)
279 {
280 defaultValue = pDefault;
281 setter = pSetter;
282 getter = pGetter;
283 objectSet = null;
284 }
285 public ParameterDefn(string pName, string pDesc, T pDefault, PGetValue<T> pGetter, PSetValue<T> pSetter, PSetOnObject<T> pObjSetter)
286 : base(pName, pDesc)
287 {
288 defaultValue = pDefault;
289 setter = pSetter;
290 getter = pGetter;
291 objectSet = pObjSetter;
292 }
293 // Simple parameter variable where property name is the same as the INI file name
294 // and the value is only a simple get and set.
295 public ParameterDefn(string pName, string pDesc, T pDefault)
296 : base(pName, pDesc)
297 {
298 defaultValue = pDefault;
299 setter = (s, v) => { SetValueByName(s, name, v); };
300 getter = (s) => { return GetValueByName(s, name); };
301 objectSet = null;
302 }
303 // Use reflection to find the property named 'pName' in BSParam and assign 'val' to same.
304 private void SetValueByName(BSScene s, string pName, T val)
305 {
306 PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
307 if (prop == null)
308 {
309 // This should only be output when someone adds a new INI parameter and misspells the name.
310 s.Logger.ErrorFormat("{0} SetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameters name.", LogHeader, pName);
311 }
312 else
313 {
314 prop.SetValue(null, val, null);
315 }
316 }
317 // Use reflection to find the property named 'pName' in BSParam and return the value in same.
318 private T GetValueByName(BSScene s, string pName)
319 {
320 PropertyInfo prop = typeof(BSParam).GetProperty(pName, BindingFlags.Public | BindingFlags.Static | BindingFlags.FlattenHierarchy);
321 if (prop == null)
322 {
323 // This should only be output when someone adds a new INI parameter and misspells the name.
324 s.Logger.ErrorFormat("{0} GetValueByName: did not find '{1}'. Verify specified property name is the same as the given INI parameter name.", LogHeader, pName);
325 }
326 return (T)prop.GetValue(null, null);
327 }
328 public override void AssignDefault(BSScene s)
329 {
330 setter(s, defaultValue);
331 }
332 public override string GetValue(BSScene s)
333 {
334 return getter(s).ToString();
335 }
336 public override void SetValue(BSScene s, string valAsString)
337 {
338 // Get the generic type of the setter
339 Type genericType = setter.GetType().GetGenericArguments()[0];
340 // Find the 'Parse' method on that type
341 System.Reflection.MethodInfo parser = null;
342 try
343 {
344 parser = genericType.GetMethod("Parse", new Type[] { typeof(String) } );
345 }
346 catch (Exception e)
347 {
348 s.Logger.ErrorFormat("{0} Exception getting parser for type '{1}': {2}", LogHeader, genericType, e);
349 parser = null;
350 }
351 if (parser != null)
352 {
353 // Parse the input string
354 try
355 {
356 T setValue = (T)parser.Invoke(genericType, new Object[] { valAsString });
357 // Store the parsed value
358 setter(s, setValue);
359 // s.Logger.DebugFormat("{0} Parameter {1} = {2}", LogHeader, name, setValue);
360 }
361 catch
362 {
363 s.Logger.ErrorFormat("{0} Failed parsing parameter value '{1}' as type '{2}'", LogHeader, valAsString, genericType);
364 }
365 }
366 else
367 {
368 s.Logger.ErrorFormat("{0} Could not find parameter parser for type '{1}'", LogHeader, genericType);
369 }
370 }
371 public override bool HasSetOnObject
372 {
373 get { return objectSet != null; }
374 }
375 public override void SetOnObject(BSScene s, BSPhysObject obj)
376 {
377 if (objectSet != null)
378 objectSet(s, obj);
379 }
380 }
381
382 // List of all of the externally visible parameters.
383 // For each parameter, this table maps a text name to getter and setters.
384 // To add a new externally referencable/settable parameter, add the paramter storage
385 // location somewhere in the program and make an entry in this table with the
386 // getters and setters.
387 // It is easiest to find an existing definition and copy it.
388 //
389 // A ParameterDefn<T>() takes the following parameters:
390 // -- the text name of the parameter. This is used for console input and ini file.
391 // -- a short text description of the parameter. This shows up in the console listing.
392 // -- a default value
393 // -- a delegate for getting the value
394 // -- a delegate for setting the value
395 // -- an optional delegate to update the value in the world. Most often used to
396 // push the new value to an in-world object.
397 //
398 // The single letter parameters for the delegates are:
399 // s = BSScene
400 // o = BSPhysObject
401 // v = value (appropriate type)
402 private static ParameterDefnBase[] ParameterDefinitions =
403 {
404 new ParameterDefn<bool>("Active", "If 'true', false then physics is not active",
405 false ),
406 new ParameterDefn<bool>("UseSeparatePhysicsThread", "If 'true', the physics engine runs independent from the simulator heartbeat",
407 false ),
408 new ParameterDefn<float>("PhysicsTimeStep", "If separate thread, seconds to simulate each interval",
409 0.089f ),
410
411 new ParameterDefn<bool>("MeshSculptedPrim", "Whether to create meshes for sculpties",
412 true,
413 (s) => { return ShouldMeshSculptedPrim; },
414 (s,v) => { ShouldMeshSculptedPrim = v; } ),
415 new ParameterDefn<bool>("ForceSimplePrimMeshing", "If true, only use primitive meshes for objects",
416 false,
417 (s) => { return ShouldForceSimplePrimMeshing; },
418 (s,v) => { ShouldForceSimplePrimMeshing = v; } ),
419 new ParameterDefn<bool>("UseHullsForPhysicalObjects", "If true, create hulls for physical objects",
420 true,
421 (s) => { return ShouldUseHullsForPhysicalObjects; },
422 (s,v) => { ShouldUseHullsForPhysicalObjects = v; } ),
423 new ParameterDefn<bool>("ShouldRemoveZeroWidthTriangles", "If true, remove degenerate triangles from meshes",
424 true ),
425 new ParameterDefn<bool>("ShouldUseBulletHACD", "If true, use the Bullet version of HACD",
426 false ),
427 new ParameterDefn<bool>("ShouldUseSingleConvexHullForPrims", "If true, use a single convex hull shape for physical prims",
428 true ),
429 new ParameterDefn<bool>("ShouldUseGImpactShapeForPrims", "If true, use a GImpact shape for prims with cuts and twists",
430 false ),
431 new ParameterDefn<bool>("ShouldUseAssetHulls", "If true, use hull if specified in the mesh asset info",
432 true ),
433
434 new ParameterDefn<int>("CrossingFailuresBeforeOutOfBounds", "How forgiving we are about getting into adjactent regions",
435 5 ),
436 new ParameterDefn<float>("UpdateVelocityChangeThreshold", "Change in updated velocity required before reporting change to simulator",
437 0.1f ),
438
439 new ParameterDefn<float>("MeshLevelOfDetail", "Level of detail to render meshes (32, 16, 8 or 4. 32=most detailed)",
440 32f,
441 (s) => { return MeshLOD; },
442 (s,v) => { MeshLOD = v; } ),
443 new ParameterDefn<float>("MeshLevelOfDetailCircular", "Level of detail for prims with circular cuts or shapes",
444 32f,
445 (s) => { return MeshCircularLOD; },
446 (s,v) => { MeshCircularLOD = v; } ),
447 new ParameterDefn<float>("MeshLevelOfDetailMegaPrimThreshold", "Size (in meters) of a mesh before using MeshMegaPrimLOD",
448 10f,
449 (s) => { return MeshMegaPrimThreshold; },
450 (s,v) => { MeshMegaPrimThreshold = v; } ),
451 new ParameterDefn<float>("MeshLevelOfDetailMegaPrim", "Level of detail to render meshes larger than threshold meters",
452 32f,
453 (s) => { return MeshMegaPrimLOD; },
454 (s,v) => { MeshMegaPrimLOD = v; } ),
455 new ParameterDefn<float>("SculptLevelOfDetail", "Level of detail to render sculpties (32, 16, 8 or 4. 32=most detailed)",
456 32f,
457 (s) => { return SculptLOD; },
458 (s,v) => { SculptLOD = v; } ),
459
460 new ParameterDefn<int>("MaxSubStep", "In simulation step, maximum number of substeps",
461 10,
462 (s) => { return s.m_maxSubSteps; },
463 (s,v) => { s.m_maxSubSteps = (int)v; } ),
464 new ParameterDefn<float>("FixedTimeStep", "In simulation step, seconds of one substep (1/60)",
465 1f / 60f,
466 (s) => { return s.m_fixedTimeStep; },
467 (s,v) => { s.m_fixedTimeStep = v; } ),
468 new ParameterDefn<float>("NominalFrameRate", "The base frame rate we claim",
469 55f,
470 (s) => { return s.NominalFrameRate; },
471 (s,v) => { s.NominalFrameRate = (int)v; } ),
472 new ParameterDefn<int>("MaxCollisionsPerFrame", "Max collisions returned at end of each frame",
473 2048,
474 (s) => { return s.m_maxCollisionsPerFrame; },
475 (s,v) => { s.m_maxCollisionsPerFrame = (int)v; } ),
476 new ParameterDefn<int>("MaxUpdatesPerFrame", "Max updates returned at end of each frame",
477 8000,
478 (s) => { return s.m_maxUpdatesPerFrame; },
479 (s,v) => { s.m_maxUpdatesPerFrame = (int)v; } ),
480
481 new ParameterDefn<float>("MinObjectMass", "Minimum object mass (0.0001)",
482 0.0001f,
483 (s) => { return MinimumObjectMass; },
484 (s,v) => { MinimumObjectMass = v; } ),
485 new ParameterDefn<float>("MaxObjectMass", "Maximum object mass (10000.01)",
486 10000.01f,
487 (s) => { return MaximumObjectMass; },
488 (s,v) => { MaximumObjectMass = v; } ),
489 new ParameterDefn<float>("MaxLinearVelocity", "Maximum velocity magnitude that can be assigned to an object",
490 1000.0f,
491 (s) => { return MaxLinearVelocity; },
492 (s,v) => { MaxLinearVelocity = v; MaxLinearVelocitySquared = v * v; } ),
493 new ParameterDefn<float>("MaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to an object",
494 1000.0f,
495 (s) => { return MaxAngularVelocity; },
496 (s,v) => { MaxAngularVelocity = v; MaxAngularVelocitySquared = v * v; } ),
497 // LL documentation says thie number should be 20f for llApplyImpulse and 200f for llRezObject
498 new ParameterDefn<float>("MaxAddForceMagnitude", "Maximum force that can be applied by llApplyImpulse (SL says 20f)",
499 20000.0f,
500 (s) => { return MaxAddForceMagnitude; },
501 (s,v) => { MaxAddForceMagnitude = v; MaxAddForceMagnitudeSquared = v * v; } ),
502 // Density is passed around as 100kg/m3. This scales that to 1kg/m3.
503 // Reduce by power of 100 because Bullet doesn't seem to handle objects with large mass very well
504 new ParameterDefn<float>("DensityScaleFactor", "Conversion for simulator/viewer density (100kg/m3) to physical density (1kg/m3)",
505 0.01f ),
506
507 new ParameterDefn<float>("PID_D", "Derivitive factor for motion smoothing",
508 2200f ),
509 new ParameterDefn<float>("PID_P", "Parameteric factor for motion smoothing",
510 900f ),
511
512 new ParameterDefn<float>("DefaultFriction", "Friction factor used on new objects",
513 0.2f,
514 (s) => { return DefaultFriction; },
515 (s,v) => { DefaultFriction = v; s.UnmanagedParams[0].defaultFriction = v; } ),
516 // For historical reasons, the viewer and simulator multiply the density by 100
517 new ParameterDefn<float>("DefaultDensity", "Density for new objects" ,
518 1000.0006836f, // Aluminum g/cm3 * 100
519 (s) => { return DefaultDensity; },
520 (s,v) => { DefaultDensity = v; s.UnmanagedParams[0].defaultDensity = v; } ),
521 new ParameterDefn<float>("DefaultRestitution", "Bouncyness of an object" ,
522 0f,
523 (s) => { return DefaultRestitution; },
524 (s,v) => { DefaultRestitution = v; s.UnmanagedParams[0].defaultRestitution = v; } ),
525 new ParameterDefn<float>("CollisionMargin", "Margin around objects before collisions are calculated (must be zero!)",
526 0.04f,
527 (s) => { return CollisionMargin; },
528 (s,v) => { CollisionMargin = v; s.UnmanagedParams[0].collisionMargin = v; } ),
529 new ParameterDefn<float>("Gravity", "Vertical force of gravity (negative means down)",
530 -9.80665f,
531 (s) => { return Gravity; },
532 (s,v) => { Gravity = v; s.UnmanagedParams[0].gravity = v; },
533 (s,o) => { s.PE.SetGravity(o.PhysBody, new Vector3(0f,0f,Gravity)); } ),
534
535
536 new ParameterDefn<float>("LinearDamping", "Factor to damp linear movement per second (0.0 - 1.0)",
537 0f,
538 (s) => { return LinearDamping; },
539 (s,v) => { LinearDamping = v; },
540 (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
541 new ParameterDefn<float>("AngularDamping", "Factor to damp angular movement per second (0.0 - 1.0)",
542 0f,
543 (s) => { return AngularDamping; },
544 (s,v) => { AngularDamping = v; },
545 (s,o) => { s.PE.SetDamping(o.PhysBody, LinearDamping, AngularDamping); } ),
546 new ParameterDefn<float>("DeactivationTime", "Seconds before considering an object potentially static",
547 0.2f,
548 (s) => { return DeactivationTime; },
549 (s,v) => { DeactivationTime = v; },
550 (s,o) => { s.PE.SetDeactivationTime(o.PhysBody, DeactivationTime); } ),
551 new ParameterDefn<float>("LinearSleepingThreshold", "Seconds to measure linear movement before considering static",
552 0.8f,
553 (s) => { return LinearSleepingThreshold; },
554 (s,v) => { LinearSleepingThreshold = v;},
555 (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
556 new ParameterDefn<float>("AngularSleepingThreshold", "Seconds to measure angular movement before considering static",
557 1.0f,
558 (s) => { return AngularSleepingThreshold; },
559 (s,v) => { AngularSleepingThreshold = v;},
560 (s,o) => { s.PE.SetSleepingThresholds(o.PhysBody, LinearSleepingThreshold, AngularSleepingThreshold); } ),
561 new ParameterDefn<float>("CcdMotionThreshold", "Continuious collision detection threshold (0 means no CCD)" ,
562 0.0f, // set to zero to disable
563 (s) => { return CcdMotionThreshold; },
564 (s,v) => { CcdMotionThreshold = v;},
565 (s,o) => { s.PE.SetCcdMotionThreshold(o.PhysBody, CcdMotionThreshold); } ),
566 new ParameterDefn<float>("CcdSweptSphereRadius", "Continuious collision detection test radius" ,
567 0.2f,
568 (s) => { return CcdSweptSphereRadius; },
569 (s,v) => { CcdSweptSphereRadius = v;},
570 (s,o) => { s.PE.SetCcdSweptSphereRadius(o.PhysBody, CcdSweptSphereRadius); } ),
571 new ParameterDefn<float>("ContactProcessingThreshold", "Distance above which contacts can be discarded (0 means no discard)" ,
572 0.0f,
573 (s) => { return ContactProcessingThreshold; },
574 (s,v) => { ContactProcessingThreshold = v;},
575 (s,o) => { s.PE.SetContactProcessingThreshold(o.PhysBody, ContactProcessingThreshold); } ),
576
577 new ParameterDefn<float>("TerrainImplementation", "Type of shape to use for terrain (0=heightmap, 1=mesh)",
578 (float)BSTerrainPhys.TerrainImplementation.Heightmap ),
579 new ParameterDefn<int>("TerrainMeshMagnification", "Number of times the 256x256 heightmap is multiplied to create the terrain mesh" ,
580 2 ),
581 new ParameterDefn<float>("TerrainGroundPlane", "Altitude of ground plane used to keep things from falling to infinity" ,
582 -500.0f ),
583 new ParameterDefn<float>("TerrainFriction", "Factor to reduce movement against terrain surface" ,
584 0.3f ),
585 new ParameterDefn<float>("TerrainHitFraction", "Distance to measure hit collisions" ,
586 0.8f ),
587 new ParameterDefn<float>("TerrainRestitution", "Bouncyness" ,
588 0f ),
589 new ParameterDefn<float>("TerrainContactProcessingThreshold", "Distance from terrain to stop processing collisions" ,
590 0.0f ),
591 new ParameterDefn<float>("TerrainCollisionMargin", "Margin where collision checking starts" ,
592 0.04f ),
593
594 new ParameterDefn<bool>("AvatarToAvatarCollisionsByDefault", "Should avatars collide with other avatars by default?",
595 true),
596 new ParameterDefn<float>("AvatarFriction", "Factor to reduce movement against an avatar. Changed on avatar recreation.",
597 0.2f ),
598 new ParameterDefn<float>("AvatarStandingFriction", "Avatar friction when standing. Changed on avatar recreation.",
599 0.95f ),
600 new ParameterDefn<float>("AvatarAlwaysRunFactor", "Speed multiplier if avatar is set to always run",
601 1.3f ),
602 // For historical reasons, density is reported * 100
603 new ParameterDefn<float>("AvatarDensity", "Density of an avatar. Changed on avatar recreation. Scaled times 100.",
604 3500f) , // 3.5 * 100
605 new ParameterDefn<float>("AvatarRestitution", "Bouncyness. Changed on avatar recreation.",
606 0f ),
607 new ParameterDefn<int>("AvatarShape", "Code for avatar physical shape: 0:capsule, 1:cube, 2:ovoid, 2:mesh",
608 BSShapeCollection.AvatarShapeCube ) ,
609 new ParameterDefn<float>("AvatarCapsuleWidth", "The distance between the sides of the avatar capsule",
610 0.6f ) ,
611 new ParameterDefn<float>("AvatarCapsuleDepth", "The distance between the front and back of the avatar capsule",
612 0.45f ),
613 new ParameterDefn<float>("AvatarCapsuleHeight", "Default height of space around avatar",
614 1.5f ),
615 new ParameterDefn<float>("AvatarHeightLowFudge", "A fudge factor to make small avatars stand on the ground",
616 0f ),
617 new ParameterDefn<float>("AvatarHeightMidFudge", "A fudge distance to adjust average sized avatars to be standing on ground",
618 0f ),
619 new ParameterDefn<float>("AvatarHeightHighFudge", "A fudge factor to make tall avatars stand on the ground",
620 0f ),
621 new ParameterDefn<float>("AvatarFlyingGroundMargin", "Meters avatar is kept above the ground when flying",
622 5f ),
623 new ParameterDefn<float>("AvatarFlyingGroundUpForce", "Upward force applied to the avatar to keep it at flying ground margin",
624 2.0f ),
625 new ParameterDefn<float>("AvatarTerminalVelocity", "Terminal Velocity of falling avatar",
626 -54.0f ),
627 new ParameterDefn<float>("AvatarContactProcessingThreshold", "Distance from capsule to check for collisions",
628 0.1f ),
629 new ParameterDefn<float>("AvatarStopZeroThreshold", "Movement velocity below which avatar is assumed to be stopped",
630 0.1f ),
631 new ParameterDefn<float>("AvatarBelowGroundUpCorrectionMeters", "Meters to move avatar up if it seems to be below ground",
632 1.0f ),
633 new ParameterDefn<int>("AvatarJumpFrames", "Number of frames to allow jump forces. Changes jump height.",
634 4 ),
635 new ParameterDefn<float>("AvatarStepHeight", "Height of a step obstacle to consider step correction",
636 0.999f ) ,
637 new ParameterDefn<float>("AvatarStepAngle", "The angle (in radians) for a vertical surface to be considered a step",
638 0.3f ) ,
639 new ParameterDefn<float>("AvatarStepGroundFudge", "Fudge factor subtracted from avatar base when comparing collision height",
640 0.1f ) ,
641 new ParameterDefn<float>("AvatarStepApproachFactor", "Factor to control angle of approach to step (0=straight on)",
642 2f ),
643 new ParameterDefn<float>("AvatarStepForceFactor", "Controls the amount of force up applied to step up onto a step",
644 0f ),
645 new ParameterDefn<float>("AvatarStepUpCorrectionFactor", "Multiplied by height of step collision to create up movement at step",
646 0.8f ),
647 new ParameterDefn<int>("AvatarStepSmoothingSteps", "Number of frames after a step collision that we continue walking up stairs",
648 1 ),
649
650 new ParameterDefn<float>("VehicleMaxLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
651 1000.0f,
652 (s) => { return (float)VehicleMaxLinearVelocity; },
653 (s,v) => { VehicleMaxLinearVelocity = v; VehicleMaxLinearVelocitySquared = v * v; } ),
654 new ParameterDefn<float>("VehicleMinLinearVelocity", "Maximum velocity magnitude that can be assigned to a vehicle",
655 0.001f,
656 (s) => { return (float)VehicleMinLinearVelocity; },
657 (s,v) => { VehicleMinLinearVelocity = v; VehicleMinLinearVelocitySquared = v * v; } ),
658 new ParameterDefn<float>("VehicleMaxAngularVelocity", "Maximum rotational velocity magnitude that can be assigned to a vehicle",
659 12.0f,
660 (s) => { return (float)VehicleMaxAngularVelocity; },
661 (s,v) => { VehicleMaxAngularVelocity = v; VehicleMaxAngularVelocitySq = v * v; } ),
662 new ParameterDefn<float>("VehicleAngularDamping", "Factor to damp vehicle angular movement per second (0.0 - 1.0)",
663 0.0f ),
664 new ParameterDefn<Vector3>("VehicleLinearFactor", "Fraction of physical linear changes applied to vehicle (<0,0,0> to <1,1,1>)",
665 new Vector3(1f, 1f, 1f) ),
666 new ParameterDefn<Vector3>("VehicleAngularFactor", "Fraction of physical angular changes applied to vehicle (<0,0,0> to <1,1,1>)",
667 new Vector3(1f, 1f, 1f) ),
668 new ParameterDefn<Vector3>("VehicleInertiaFactor", "Fraction of physical inertia applied (<0,0,0> to <1,1,1>)",
669 new Vector3(1f, 1f, 1f) ),
670 new ParameterDefn<float>("VehicleFriction", "Friction of vehicle on the ground (0.0 - 1.0)",
671 0.0f ),
672 new ParameterDefn<float>("VehicleRestitution", "Bouncyness factor for vehicles (0.0 - 1.0)",
673 0.0f ),
674 new ParameterDefn<float>("VehicleGroundGravityFudge", "Factor to multiply gravity if a ground vehicle is probably on the ground (0.0 - 1.0)",
675 0.2f ),
676 new ParameterDefn<float>("VehicleAngularBankingTimescaleFudge", "Factor to multiple angular banking timescale. Tune to increase realism.",
677 60.0f ),
678 new ParameterDefn<bool>("VehicleEnableLinearDeflection", "Turn on/off vehicle linear deflection effect",
679 true ),
680 new ParameterDefn<bool>("VehicleLinearDeflectionNotCollidingNoZ", "Turn on/off linear deflection Z effect on non-colliding vehicles",
681 true ),
682 new ParameterDefn<bool>("VehicleEnableAngularVerticalAttraction", "Turn on/off vehicle angular vertical attraction effect",
683 true ),
684 new ParameterDefn<int>("VehicleAngularVerticalAttractionAlgorithm", "Select vertical attraction algo. You need to look at the source.",
685 0 ),
686 new ParameterDefn<bool>("VehicleEnableAngularDeflection", "Turn on/off vehicle angular deflection effect",
687 true ),
688 new ParameterDefn<bool>("VehicleEnableAngularBanking", "Turn on/off vehicle angular banking effect",
689 true ),
690
691 new ParameterDefn<float>("MaxPersistantManifoldPoolSize", "Number of manifolds pooled (0 means default of 4096)",
692 0f,
693 (s) => { return MaxPersistantManifoldPoolSize; },
694 (s,v) => { MaxPersistantManifoldPoolSize = v; s.UnmanagedParams[0].maxPersistantManifoldPoolSize = v; } ),
695 new ParameterDefn<float>("MaxCollisionAlgorithmPoolSize", "Number of collisions pooled (0 means default of 4096)",
696 0f,
697 (s) => { return MaxCollisionAlgorithmPoolSize; },
698 (s,v) => { MaxCollisionAlgorithmPoolSize = v; s.UnmanagedParams[0].maxCollisionAlgorithmPoolSize = v; } ),
699 new ParameterDefn<bool>("ShouldDisableContactPoolDynamicAllocation", "Enable to allow large changes in object count",
700 false,
701 (s) => { return ShouldDisableContactPoolDynamicAllocation; },
702 (s,v) => { ShouldDisableContactPoolDynamicAllocation = v;
703 s.UnmanagedParams[0].shouldDisableContactPoolDynamicAllocation = NumericBool(v); } ),
704 new ParameterDefn<bool>("ShouldForceUpdateAllAabbs", "Enable to recomputer AABBs every simulator step",
705 false,
706 (s) => { return ShouldForceUpdateAllAabbs; },
707 (s,v) => { ShouldForceUpdateAllAabbs = v; s.UnmanagedParams[0].shouldForceUpdateAllAabbs = NumericBool(v); } ),
708 new ParameterDefn<bool>("ShouldRandomizeSolverOrder", "Enable for slightly better stacking interaction",
709 true,
710 (s) => { return ShouldRandomizeSolverOrder; },
711 (s,v) => { ShouldRandomizeSolverOrder = v; s.UnmanagedParams[0].shouldRandomizeSolverOrder = NumericBool(v); } ),
712 new ParameterDefn<bool>("ShouldSplitSimulationIslands", "Enable splitting active object scanning islands",
713 true,
714 (s) => { return ShouldSplitSimulationIslands; },
715 (s,v) => { ShouldSplitSimulationIslands = v; s.UnmanagedParams[0].shouldSplitSimulationIslands = NumericBool(v); } ),
716 new ParameterDefn<bool>("ShouldEnableFrictionCaching", "Enable friction computation caching",
717 true,
718 (s) => { return ShouldEnableFrictionCaching; },
719 (s,v) => { ShouldEnableFrictionCaching = v; s.UnmanagedParams[0].shouldEnableFrictionCaching = NumericBool(v); } ),
720 new ParameterDefn<float>("NumberOfSolverIterations", "Number of internal iterations (0 means default)",
721 0f, // zero says use Bullet default
722 (s) => { return NumberOfSolverIterations; },
723 (s,v) => { NumberOfSolverIterations = v; s.UnmanagedParams[0].numberOfSolverIterations = v; } ),
724 new ParameterDefn<bool>("UseSingleSidedMeshes", "Whether to compute collisions based on single sided meshes.",
725 true,
726 (s) => { return UseSingleSidedMeshes; },
727 (s,v) => { UseSingleSidedMeshes = v; s.UnmanagedParams[0].useSingleSidedMeshes = NumericBool(v); } ),
728 new ParameterDefn<float>("GlobalContactBreakingThreshold", "Amount of shape radius before breaking a collision contact (0 says Bullet default (0.2))",
729 0f,
730 (s) => { return GlobalContactBreakingThreshold; },
731 (s,v) => { GlobalContactBreakingThreshold = v; s.UnmanagedParams[0].globalContactBreakingThreshold = v; } ),
732 new ParameterDefn<float>("PhysicsUnmanLoggingFrames", "If non-zero, frames between output of detailed unmanaged physics statistics",
733 0f,
734 (s) => { return PhysicsUnmanLoggingFrames; },
735 (s,v) => { PhysicsUnmanLoggingFrames = v; s.UnmanagedParams[0].physicsLoggingFrames = v; } ),
736
737 new ParameterDefn<int>("CSHullMaxDepthSplit", "CS impl: max depth to split for hull. 1-10 but > 7 is iffy",
738 7 ),
739 new ParameterDefn<int>("CSHullMaxDepthSplitForSimpleShapes", "CS impl: max depth setting for simple prim shapes",
740 2 ),
741 new ParameterDefn<float>("CSHullConcavityThresholdPercent", "CS impl: concavity threshold percent (0-20)",
742 5f ),
743 new ParameterDefn<float>("CSHullVolumeConservationThresholdPercent", "percent volume conservation to collapse hulls (0-30)",
744 5f ),
745 new ParameterDefn<int>("CSHullMaxVertices", "CS impl: maximum number of vertices in output hulls. Keep < 50.",
746 32 ),
747 new ParameterDefn<float>("CSHullMaxSkinWidth", "CS impl: skin width to apply to output hulls.",
748 0f ),
749
750 new ParameterDefn<float>("BHullMaxVerticesPerHull", "Bullet impl: max number of vertices per created hull",
751 200f ),
752 new ParameterDefn<float>("BHullMinClusters", "Bullet impl: minimum number of hulls to create per mesh",
753 10f ),
754 new ParameterDefn<float>("BHullCompacityWeight", "Bullet impl: weight factor for how compact to make hulls",
755 20f ),
756 new ParameterDefn<float>("BHullVolumeWeight", "Bullet impl: weight factor for volume in created hull",
757 0.1f ),
758 new ParameterDefn<float>("BHullConcavity", "Bullet impl: weight factor for how convex a created hull can be",
759 10f ),
760 new ParameterDefn<bool>("BHullAddExtraDistPoints", "Bullet impl: whether to add extra vertices for long distance vectors",
761 true ),
762 new ParameterDefn<bool>("BHullAddNeighboursDistPoints", "Bullet impl: whether to add extra vertices between neighbor hulls",
763 true ),
764 new ParameterDefn<bool>("BHullAddFacesPoints", "Bullet impl: whether to add extra vertices to break up hull faces",
765 true ),
766 new ParameterDefn<bool>("BHullShouldAdjustCollisionMargin", "Bullet impl: whether to shrink resulting hulls to account for collision margin",
767 false ),
768
769 new ParameterDefn<float>("WhichHACD", "zero if Bullet HACD, non-zero says VHACD",
770 0f ),
771 new ParameterDefn<float>("VHACDresolution", "max number of voxels generated during voxelization stage",
772 100000f ),
773 new ParameterDefn<float>("VHACDdepth", "max number of clipping stages",
774 20f ),
775 new ParameterDefn<float>("VHACDconcavity", "maximum concavity",
776 0.0025f ),
777 new ParameterDefn<float>("VHACDplaneDownsampling", "granularity of search for best clipping plane",
778 4f ),
779 new ParameterDefn<float>("VHACDconvexHullDownsampling", "precision of hull gen process",
780 4f ),
781 new ParameterDefn<float>("VHACDalpha", "bias toward clipping along symmetry planes",
782 0.05f ),
783 new ParameterDefn<float>("VHACDbeta", "bias toward clipping along revolution axis",
784 0.05f ),
785 new ParameterDefn<float>("VHACDgamma", "max concavity when merging",
786 0.00125f ),
787 new ParameterDefn<float>("VHACDpca", "on/off normalizing mesh before decomp",
788 0f ),
789 new ParameterDefn<float>("VHACDmode", "0:voxel based, 1: tetrahedron based",
790 0f ),
791 new ParameterDefn<float>("VHACDmaxNumVerticesPerCH", "max triangles per convex hull",
792 64f ),
793 new ParameterDefn<float>("VHACDminVolumePerCH", "sampling of generated convex hulls",
794 0.0001f ),
795
796 new ParameterDefn<float>("LinksetImplementation", "Type of linkset implementation (0=Constraint, 1=Compound, 2=Manual)",
797 (float)BSLinkset.LinksetImplementation.Compound ),
798 new ParameterDefn<bool>("LinksetOffsetCenterOfMass", "If 'true', compute linkset center-of-mass and offset linkset position to account for same",
799 true ),
800 new ParameterDefn<bool>("LinkConstraintUseFrameOffset", "For linksets built with constraints, enable frame offsetFor linksets built with constraints, enable frame offset.",
801 false ),
802 new ParameterDefn<bool>("LinkConstraintEnableTransMotor", "Whether to enable translational motor on linkset constraints",
803 true ),
804 new ParameterDefn<float>("LinkConstraintTransMotorMaxVel", "Maximum velocity to be applied by translational motor in linkset constraints",
805 5.0f ),
806 new ParameterDefn<float>("LinkConstraintTransMotorMaxForce", "Maximum force to be applied by translational motor in linkset constraints",
807 0.1f ),
808 new ParameterDefn<float>("LinkConstraintCFM", "Amount constraint can be violated. 0=no violation, 1=infinite. Default=0.1",
809 0.1f ),
810 new ParameterDefn<float>("LinkConstraintERP", "Amount constraint is corrected each tick. 0=none, 1=all. Default = 0.2",
811 0.1f ),
812 new ParameterDefn<float>("LinkConstraintSolverIterations", "Number of solver iterations when computing constraint. (0 = Bullet default)",
813 40 ),
814
815 new ParameterDefn<int>("PhysicsMetricFrames", "Frames between outputting detailed phys metrics. (0 is off)",
816 0,
817 (s) => { return s.PhysicsMetricDumpFrames; },
818 (s,v) => { s.PhysicsMetricDumpFrames = v; } ),
819 new ParameterDefn<float>("ResetBroadphasePool", "Setting this is any value resets the broadphase collision pool",
820 0f,
821 (s) => { return 0f; },
822 (s,v) => { BSParam.ResetBroadphasePoolTainted(s, v, false /* inTaintTime */); } ),
823 new ParameterDefn<float>("ResetConstraintSolver", "Setting this is any value resets the constraint solver",
824 0f,
825 (s) => { return 0f; },
826 (s,v) => { BSParam.ResetConstraintSolverTainted(s, v); } ),
827 };
828
829 // Convert a boolean to our numeric true and false values
830 public static float NumericBool(bool b)
831 {
832 return (b ? ConfigurationParameters.numericTrue : ConfigurationParameters.numericFalse);
833 }
834
835 // Convert numeric true and false values to a boolean
836 public static bool BoolNumeric(float b)
837 {
838 return (b == ConfigurationParameters.numericTrue ? true : false);
839 }
840
841 // Search through the parameter definitions and return the matching
842 // ParameterDefn structure.
843 // Case does not matter as names are compared after converting to lower case.
844 // Returns 'false' if the parameter is not found.
845 internal static bool TryGetParameter(string paramName, out ParameterDefnBase defn)
846 {
847 bool ret = false;
848 ParameterDefnBase foundDefn = null;
849 string pName = paramName.ToLower();
850
851 foreach (ParameterDefnBase parm in ParameterDefinitions)
852 {
853 if (pName == parm.name.ToLower())
854 {
855 foundDefn = parm;
856 ret = true;
857 break;
858 }
859 }
860 defn = foundDefn;
861 return ret;
862 }
863
864 // Pass through the settable parameters and set the default values
865 internal static void SetParameterDefaultValues(BSScene physicsScene)
866 {
867 foreach (ParameterDefnBase parm in ParameterDefinitions)
868 {
869 parm.AssignDefault(physicsScene);
870 }
871 }
872
873 // Get user set values out of the ini file.
874 internal static void SetParameterConfigurationValues(BSScene physicsScene, IConfig cfg)
875 {
876 foreach (ParameterDefnBase parm in ParameterDefinitions)
877 {
878 parm.SetValue(physicsScene, cfg.GetString(parm.name, parm.GetValue(physicsScene)));
879 }
880 }
881
882 internal static PhysParameterEntry[] SettableParameters = new PhysParameterEntry[1];
883
884 // This creates an array in the correct format for returning the list of
885 // parameters. This is used by the 'list' option of the 'physics' command.
886 internal static void BuildParameterTable()
887 {
888 if (SettableParameters.Length < ParameterDefinitions.Length)
889 {
890 List<PhysParameterEntry> entries = new List<PhysParameterEntry>();
891 for (int ii = 0; ii < ParameterDefinitions.Length; ii++)
892 {
893 ParameterDefnBase pd = ParameterDefinitions[ii];
894 entries.Add(new PhysParameterEntry(pd.name, pd.desc));
895 }
896
897 // make the list alphabetical for ease of finding anything
898 entries.Sort((ppe1, ppe2) => { return ppe1.name.CompareTo(ppe2.name); });
899
900 SettableParameters = entries.ToArray();
901 }
902 }
903
904 // =====================================================================
905 // =====================================================================
906 // There are parameters that, when set, cause things to happen in the physics engine.
907 // This causes the broadphase collision cache to be cleared.
908 private static void ResetBroadphasePoolTainted(BSScene pPhysScene, float v, bool inTaintTime)
909 {
910 BSScene physScene = pPhysScene;
911 physScene.TaintedObject(inTaintTime, "BSParam.ResetBroadphasePoolTainted", delegate()
912 {
913 physScene.PE.ResetBroadphasePool(physScene.World);
914 });
915 }
916
917 // This causes the constraint solver cache to be cleared and reset.
918 private static void ResetConstraintSolverTainted(BSScene pPhysScene, float v)
919 {
920 BSScene physScene = pPhysScene;
921 physScene.TaintedObject(BSScene.DetailLogZero, "BSParam.ResetConstraintSolver", delegate()
922 {
923 physScene.PE.ResetConstraintSolver(physScene.World);
924 });
925 }
926}
927}
generated by cgit v1.1 at 2024-12-30 14:11:51 +0000